CN106383516A - Mobile robot bottom control system - Google Patents
Mobile robot bottom control system Download PDFInfo
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- CN106383516A CN106383516A CN201610853972.4A CN201610853972A CN106383516A CN 106383516 A CN106383516 A CN 106383516A CN 201610853972 A CN201610853972 A CN 201610853972A CN 106383516 A CN106383516 A CN 106383516A
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- mobile robot
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- 238000004891 communication Methods 0.000 claims abstract description 18
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 230000005693 optoelectronics Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims 1
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 230000008447 perception Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a mobile robot bottom control system. The mobile robot bottom control system includes an upper computer, a chassis main control module, a driving control module, an inertial navigation module and a sensor control module; the chassis main control module is in communication connection with the upper computer, the driving control module, the inertial navigation module and the sensor control module. The modularization degree of the mobile robot bottom control system is high; the coupling between the modules can be reduced; the modules communicate with one another through adopting RS422 serial ports or a CAN bus, so that the standard of an industrial-level communication bus can be achieved; and therefore, the whole control system has higher stability. With the mobile robot bottom control system of the invention adopted, four robot motion problems namely, motion control, environment perception, human-computer interaction and location navigation can be solved, and the application requirements of current mobile robots can be satisfied.
Description
Technical field
The invention belongs to mobile robot technology field is and in particular to the setting of a kind of mobile robot final control system
Meter.
Background technology
Growing with roboticses, the application of robot is more and more extensive, almost penetrates into all spectra.Move
Mobile robot is one of robotics important branch, divides by structure, generally can be divided into wheeled, the sufficient formula of lower limb, crawler type, sucker
Formula and compound machine people.Wherein, wheeled mobile robot controls simple, motion stabilization and energy utilization rate height etc. due to it
Feature application is relatively broad.
Wheeled mobile robot is divided into all-around mobile and non-all-around mobile according to its locomotivity again.Wherein, wheeled
All directionally movable robot is widely applied due to having speed, higher stability and motility faster.This
The drive system planting robot is generally made up of 3 or more eccentric universal wheel or Mecanum wheel wheel etc..Mecanum wheel
Wheel is to be uniformly distributed multiple passive rollers, its flexible operation in the wheel hub outer rim of wheel by certain incline direction, is swift in response,
It is especially suitable for being operated in limited, high to the maneuverability requirement of the robot occasion of narrow space.
The control system of mobile robot bottom must be based on designed by the structure of its own, existing mobile robot
In, the degree of modularity of its final control system is relatively low, and the coupling between each unit is higher, so can cause each list in work
Influence each other, thus affecting the stability of whole control system between unit.
Content of the invention
The invention aims in solution prior art the degree of modularity of mobile robot final control system is relatively
Low, the higher problem of the coupling between each unit is it is proposed that a kind of high mobile robot bottom control system of degree of modularity
System.
The technical scheme is that：Mobile robot final control system, including host computer, chassis main control module,
Drive control module, inertial navigation module and sensor control block；Chassis main control module is controlled with host computer, driving respectively
Molding block, inertial navigation module, sensor control block communication connection.
Preferably, drive control module is also connected with the direct current generator of mobile robot, for completing to direct current generator
Speed closed loop and closed-loop current control, and monitor the running status of direct current generator.
Preferably, inertial navigation module is also connected with the motor encoder of mobile robot, gyroscope respectively, is used for passing through
Gyroscope and the integration data of motor encoder, obtain the coordinate of the current world coordinate system of mobile robot, and by upper
The path that position machine is generated carries out independent navigation walking.
Preferably, sensor control block also ultrasonic sensor, the optoelectronic distance sensor with mobile robot respectively
Connect, for the data fusion by ultrasonic sensor, optoelectronic distance sensor, intelligent barrier avoiding is carried out with this and moves flat
The position correction function of platform.
Preferably, chassis main control module passes through RS422 serial ports and host computer communication connection；Described chassis main control module
Communicated to connect with drive control module, inertial navigation module, sensor control block respectively by CAN.
Preferably, chassis main control module is used for completing the speed command of world coordinate system is resolved by kinematical equation
Go out the speed command of each train coordinate system, and complete the mutual conversion of RS422 serial ports and CAN agreement.
Preferably, host computer communicates to connect also by the laser radar of USB and mobile robot, for by gathering laser
The data of radar, and the gyro data being obtained by chassis main control module carries out independent navigation, monitors and show current
The running status of mobile robot final control system and operational factor, and realized to mobile robot by human-computer interaction interface
Travelling control.
The invention has the beneficial effects as follows：
(1) degree of modularity of the present invention is high, reduces the coupling between modules, so that whole control system is had more
High stability.
(2) present invention solves motor control, environment sensing, man-machine interaction, this four robot fortune of location navigation simultaneously
Dynamic problem, meets the application demand of current mobile robot.
(3) each intermodule of the present invention is communicated using RS422 serial ports or CAN, has reached technical grade communication total
The standard of line, has higher stability.
Brief description
The mobile robot final control system structured flowchart that Fig. 1 provides for the present invention.
Fig. 2 is the PID control schematic diagram of the embodiment of the present invention.
Fig. 3 is the driving double closed-loop control system control principle drawing of the embodiment of the present invention.
Fig. 4 is the RS422 serial communication protocol schematic diagram of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the invention are further described.
The invention provides a kind of mobile robot final control system, as shown in figure 1, include host computer, chassis master control
Molding block, drive control module, inertial navigation module and sensor control block；Chassis main control module respectively with upper
Machine, drive control module, inertial navigation module, sensor control block communication connection.
Wherein, drive control module is also connected with the direct current generator of mobile robot, for completing the speed to direct current generator
Degree closed loop and closed-loop current control, and monitor the running status of direct current generator.
One stable drive control module is the premise guarantee of mobile robot stable operation.In the embodiment of the present invention,
The STM32F103CBT6 chip being designed with Cortex-M3 kernel of drive control module, highest 72MHz operating frequency, 2
12 analog-digital converters, -2.0-3.6V powers and up to 112 I/O pins, 1 16 bit strip dead zone function and emergency brake, uses
In the senior control timer of PWM of motor control, 3 USART interfaces and CAN interface, performance fully meets design requirement.And
And, drive control module is to be based on C language in Keil programmed environment to program.
In the design, drive control module adopts double-closed-loop control to direct current generator, is divided into outer shroud speed to adjust and internal ring
Electric current is adjusted, all using PID control.PID controller is made up of proportional unit (P), integral unit (I) and differentiation element (D).As
Fig. 2 show PID control schematic diagram, and wherein r (t) is system set-point, and e (t) is system deviation, and u (t) is controlled quentity controlled variable, c (t)
For real output value.Then the effect of each correction link of PID controller is as follows：
(1) proportional component：Proportionally deviation signal e (t) of response system, once producing, controller produces deviation at once
Raw adjustment effect, to reduce deviation.
(2) integral element：It is mainly used in eliminating static difference, improves the no margin of system, the power of integral action depends on amassing
Divide time constant Ti,TiBigger, integral action is weaker, otherwise then stronger.
(3) differentiation element：The variation tendency of deviation signal can be reflected, i.e. the rate of change of deviation signal, and can be in deviation
Before signal value becomes too big, introduce an effective early stage revise signal in systems, thus accelerating the speed of action of system,
Reduce regulating time.
It is former that PID control schematic diagram according to Fig. 2 can be designed that the driving double closed-loop control system shown in Fig. 3 controls
Reason figure.Drive control module to direct current generator using double-closed-loop control flow process is as shown in Figure 3：
S1, motor drive controller accept a rotational speed setup input quantity, and specified rate is made with current actual speed difference
Carry out PID arithmetic for outer shroud rotating speed PID regulator.
S2, the output being drawn by S1, as the input current set-point of internal ring electric current loop, are calculated current by AD sampling
Current value and given input current value make difference.
S3, by S2 output valve as the input quantity of interior circular current PID regulator, exported to electricity by calculating current pid value
Machine is adjusted.
S4, repetitive cycling step S1～S3.
Inertial navigation module is also connected with the motor encoder of mobile robot, gyroscope respectively, for by gyroscope
And the integration data of motor encoder, obtain the coordinate of the current world coordinate system of mobile robot, and pass through host computer institute
The path generating carries out independent navigation walking.
Sensor control block is also connected with the ultrasonic sensor of mobile robot, optoelectronic distance sensor respectively, uses
In the data fusion by ultrasonic sensor, optoelectronic distance sensor, the position of intelligent barrier avoiding and mobile platform is carried out with this
Put calibration function.
Chassis main control module is communicated with host computer by RS422 serial ports.Because host computer is on Mini computer
Design, and the external tapping of computer only has USB and two kinds of serial ports, chassis main control module on single-chip microcomputer, with usb protocol mistake
In complexity, so chassis main control module and host computer use RS422 serial port protocol to be communicated.
RS422 and RS485 circuit theory is essentially identical, is all to send in a differential manner and accept it is not necessary to digital ground wire.
RS422 can be worked with full duplex by two pairs of twisted-pair feeders, and transmitting-receiving is independent of each other, but RS485 can only work in half-duplex, sends out and receives not
Can carry out simultaneously.In addition, again because the information transfer of differential mode can improve the distance of transmission, RS422 transmission range up to
Upper km, maximum speed is up to 10Mb/s, and farthest only 15 meters of RS232 transmission range, maximum speed only has 20Kb/s.Cause
This carries out the communication of chassis main control module and host computer using RS422 serial port protocol.
RS422 communication data format is as shown in figure 4, have a start bit (low level), word before each character
Symbol itself is become by 7 set of data bits, and then character is followed by a bit check position (check bit can be odd, even parity check or no
Check bit), it is finally one or one and half or two stop positions, stop position is followed by the spare bits of random length, stop position and sky
Not busy position is all defined as high level.During actual transmissions, the signal width of each is relevant with baud rate, and baud rate is higher, and width is got over
Little, before being transmitted, both sides must use same Configuration of baud rate.
In the embodiment of the present invention, the communications setting parameter between chassis main control module and host computer is：Baud rate：
115200；No parity；1 stop position.
Chassis main control module passes through CAN and controls mould with drive control module, inertial navigation module, sensor respectively
Block is communicated.CAN (Controller Area Network, Controller Area Network BUS) is a kind of for real-time application
Serial communication protocol bus, it can carry out transmission signal using twisted-pair feeder, and transfer rate is up to 1Mb/s, is to apply the most in the world
Widely one of fieldbus.CAN has the advantage that：
(1) real-time, transmission range is farther out, anti-electromagnetic interference capability is strong, low cost；
(2) adopt two wire serial communication mode, error detecing capability is strong, can work in strong noise interference environment；
(3) there is priority and arbitration function, multiple control modules are suspended on CAN-bus by CAN controller, formed many
Main frame localized network；
(4) can determine to receive according to the ID of message or shield this message；
(5) reliable fault processing and error-detection mechanism；
(6), after the information sending is destroyed, can automatically retransmit；
(7) node has, in the case that mistake is serious, the function of automatically exiting from bus；
(8) message does not comprise source address or destination address, only indicates function information, precedence information with identifier.
Because CAN protocol is usually used in the communication between various different elements in automobile, costliness is replaced with this and the joining of heaviness
Wirning harness, and have above many merits, therefore using in chassis main control module and drive control module, inertial navigation mould
In block, the communication of sensor control block.
Chassis main control module is used for completing to calculate each to the speed command of world coordinate system by kinematical equation
The speed command of train coordinate system, and complete the mutual conversion of RS422 serial ports and CAN agreement.
Host computer is also by the laser radar communication connection of USB and mobile robot.Because laser radar is output as USB
Agreement, self-carried USB drives, and the Windows system that host computer is located also self-carried USB drives and hardware interface, so both it
Between directly communicated with USB universal serial port bus.
Host computer is used for the data by gathering laser radar, and the gyroscope number being obtained by chassis main control module
According to carrying out independent navigation, monitor and show running status and the operational factor of current mobile robot final control system, and lead to
Cross human-computer interaction interface and realize the travelling control to mobile robot.
Those of ordinary skill in the art will be appreciated that, embodiment described here is to aid in reader and understands this
Bright principle is it should be understood that protection scope of the present invention is not limited to such special statement and embodiment.This area
Those of ordinary skill can make various other each without departing from present invention essence according to these technology disclosed by the invention enlightenment
Plant concrete deformation and combine, these deform and combine still within the scope of the present invention.
Claims (7)
1. mobile robot final control system is it is characterised in that include host computer, chassis main control module, drive control mould
Block, inertial navigation module and sensor control block；Described chassis main control module respectively with host computer, drive control mould
Block, inertial navigation module, sensor control block communication connection.
2. mobile robot final control system according to claim 1 it is characterised in that described drive control module also
It is connected with the direct current generator of mobile robot, for completing the speed closed loop to direct current generator and closed-loop current control, and supervise
Survey the running status of direct current generator.
3. mobile robot final control system according to claim 1 it is characterised in that described inertial navigation module also
It is connected with the motor encoder of mobile robot, gyroscope respectively, for the fraction by gyroscope and motor encoder
According to obtaining the coordinate of the current world coordinate system of mobile robot, and the path being generated by host computer carry out independent navigation
Walking.
4. mobile robot final control system according to claim 1 is it is characterised in that described sensor control block
Also it is connected with the ultrasonic sensor of mobile robot, optoelectronic distance sensor respectively, for by ultrasonic sensor, photoelectricity
The data fusion of range sensor, carries out the position correction function of intelligent barrier avoiding and mobile platform with this.
5. mobile robot final control system according to claim 1 is it is characterised in that described chassis main control module
Communicated to connect with host computer by RS422 serial ports；Described chassis main control module pass through CAN respectively with drive control mould
Block, inertial navigation module, sensor control block communication connection.
6. mobile robot final control system according to claim 5 is it is characterised in that described chassis main control module
Calculate the speed command of each train coordinate system for completing the speed command to world coordinate system by kinematical equation, and
Complete the mutual conversion of RS422 serial ports and CAN agreement.
7. mobile robot final control system according to claim 3 it is characterised in that described host computer also by
USB and the laser radar communication connection of mobile robot, for the data by gathering laser radar, and pass through chassis master control
The gyro data that molding block obtains carries out independent navigation, monitors and show the operation of current mobile robot final control system
State and operational factor, and the travelling control to mobile robot is realized by human-computer interaction interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610853972.4A CN106383516A (en) | 2016-09-27 | 2016-09-27 | Mobile robot bottom control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610853972.4A CN106383516A (en) | 2016-09-27 | 2016-09-27 | Mobile robot bottom control system |
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| CN106383516A true CN106383516A (en) | 2017-02-08 |
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| CN108733046A (en) * | 2017-04-20 | 2018-11-02 | 百度（美国）有限责任公司 | The system and method that track for automatic driving vehicle is planned again |
| CN111267996A (en) * | 2020-02-17 | 2020-06-12 | 北京海益同展信息科技有限公司 | Transfer robot |
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| CN111267996A (en) * | 2020-02-17 | 2020-06-12 | 北京海益同展信息科技有限公司 | Transfer robot |
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Application publication date: 20170208 |